BTW, i am confusing now that which planar it is when I capture a 3D polygon mesh obj. Is it XZ planar or XY planar? By default, it should be XY planar. But per my investigation to those XYZ verteices data, it looks that the captured surface is XZ planar. Could you please show me the right info? At the same time, I will also take a look at those datasheet. Thanks again.

After my investigation, I found that things are not as described in the datasheet. Firstly, I captured a piece of wall by R200and save the point cloud data in an .obj file . Then I run some experiments against the obj file. Here is my conclusion.

1. I use a test application to measure the captured object (wall). By measure its four corners, I found the Y component value is almost same at all those four points. This means that the planar should be XZ, instead of XY planar.